Point Cloud Registration

Language: Python 3.6

Decription:

Register two 3D point clouds of the same area using Iterative Closest Point, or ICP.

Tried to implement Go-ICP, but the results were not good, meybe due to incorrect implementation. The implementation is still in the code, but is not called upon. The code calls ICP by default.

The code in read_data.py is used to load text data into numpy arrays and create pickle dumps on the first run, to save time when called later.

Error function used is L2 Error.

To Run:

python trial.py